CN114803210A

CN114803210A - Action system, garbage collection method, and storage medium

Info

Publication number: CN114803210A
Application number: CN202111392570.6A
Authority: CN
Inventors: 岩本国大; 高木裕太郎; 糸澤祐太; 古村博隆
Original assignee: Toyota Motor Corp
Current assignee: Toyota Motor Corp
Priority date: 2021-01-21
Filing date: 2021-11-23
Publication date: 2022-07-29
Anticipated expiration: 2041-11-23
Also published as: JP2022112253A; CN114803210B; US20220227577A1; JP7476811B2

Abstract

The present disclosure relates to an action system, a garbage collection system, a garbage collection method and a storage medium. The action system is used for a waste box, which includes an opening and closing unit on a predetermined surface, and the waste box is installed such that the opening and closing unit faces and has a predetermined interval from a base surface, which is a floor surface or ground. When the dumpster detects that the autonomous mobile robot has come to a predetermined position near the installation position of the dumpster, the dumpster opens the opening and closing unit.

Description

Action system, garbage collection method, and storage medium

Technical Field

The present disclosure relates to an action system, a garbage collection method, and a storage medium.

Background

Typically, refuse is temporarily placed in a refuse bin and then collected from the bin for transport to a refuse collection point. Japanese unexamined patent application publication No. 2009-096636 (JP 2009-096636A) discloses a trash box that includes a bottom plate that can be opened and closed on a bottom surface and is fixed to a wall spaced from the ground.

In collecting the garbage put in the garbage can disclosed in JP 2009 and 096636A, the bottom plate of the garbage can needs to be manually opened. Therefore, the trash can disclosed in JP 2009-096636A is not suitable for collecting trash with an autonomous mobile robot, and the trash collection efficiency is low.

Disclosure of Invention

The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide an action system, a garbage collection robot, and a storage medium that allow garbage to be efficiently collected using an autonomous mobile robot.

In order to achieve the above object, an aspect of the present disclosure is an action system for a trash can including an opening and closing unit on a predetermined plane, the trash can being installed such that the opening and closing unit faces and has a predetermined interval from the base plane, the base plane being a floor plane or a ground plane, the trash can opening the opening and closing unit when the trash can detects that an autonomous mobile robot has come to a predetermined position near an installation position of the trash can.

With the action system, garbage can be loaded onto the autonomous mobile robot by dropping the garbage in the garbage can. Therefore, efficient garbage collection can be carried out using the autonomous mobile robot.

In the above aspect, the trash can may include a sensor configured to detect that the autonomous mobile robot has come to a predetermined position, and may detect that the autonomous mobile robot has come to the predetermined position based on a signal from the sensor.

This makes it possible to realize an arrangement in which the fall timing of the garbage is determined only by the processing in the garbage box.

In the above aspect, the trash bin may include a communication unit configured to communicate with another apparatus, and may detect that the autonomous mobile robot has come to the predetermined position based on a notification received by the communication unit from the another apparatus.

Thus, even if the trash can does not include a sensor, the timing at which the trash falls can be determined.

In the above aspect, the trash can may include a switch, and when the switch is operated, it may be detected that the autonomous mobile robot has come to a predetermined position.

Thus, the trash can decide the timing of dropping the trash by a simple configuration.

In the above aspect, the trash can may be capable of changing the orientation state between a state in which the predetermined surface faces the base surface and a state in which the predetermined surface does not face the base surface.

Therefore, the installation mode of the dustbin can be switched according to the situation, and the convenience of operation can be improved.

In the above aspect, when the trash can detects that the autonomous mobile robot has come near the trash can, the trash can may change the orientation state to a state in which the predetermined face is oriented toward the base face.

Thus, the posture of the dustbin can be automatically changed to a posture suitable for collecting garbage.

In order to achieve the above object, another aspect of the present disclosure is a garbage collection system including a garbage can including an opening and closing unit on a predetermined plane, the garbage can being installed such that the opening and closing unit faces a base plane, which is a floor surface or a ground surface, and a predetermined interval from the base plane, the autonomous mobile robot moving to a predetermined position near an installation position of the garbage can, the garbage can opening the opening and closing unit when the garbage can detects that the autonomous mobile robot has come to the predetermined position.

With the garbage collection system, it is possible to load garbage onto the autonomous mobile robot by dropping the garbage in the garbage can. Accordingly, efficient garbage collection can be performed using the autonomous mobile robot.

In the above aspect, the trash can may include a switch, and the trash can may detect that the autonomous mobile robot has come to a predetermined position when the switch is operated, and the autonomous mobile robot may operate the switch.

In the above aspect, the autonomous mobile robot may include a placing unit on which the garbage in the garbage box is placed, the placing unit being capable of ascending and descending, the autonomous mobile robot ascending the placing unit at a predetermined position.

Thus, the impact when the autonomous mobile robot receives garbage can be reduced.

In the above aspect, the autonomous mobile robot may include a placing unit on which the garbage in the garbage box is placed, the placing unit being capable of ascending and descending, the autonomous mobile robot may ascend the placing unit at a predetermined position, and may descend the placing unit in coordination with an action of the opening and closing unit opening downward.

In order to achieve the above object, another aspect of the present disclosure is a garbage can including an opening and closing unit on a predetermined face, the garbage can being installed such that the opening and closing unit faces a base face, which is a floor face or a ground face, and is spaced apart from the base face by a predetermined interval, an autonomous mobile robot being moved to a predetermined position near an installation position of the garbage can, the garbage can opening the opening and closing unit when the garbage can detects that the autonomous mobile robot has come to the predetermined position.

By the garbage collection method, garbage can be loaded onto the autonomous mobile robot by dropping the garbage in the garbage can. Therefore, efficient garbage collection can be achieved using the autonomous mobile robot.

To achieve the above object, another aspect of the present disclosure is a non-transitory storage medium storing instructions executable by one or more processors and causing the one or more processors to perform functions including. The functions include: controlling an autonomous mobile robot such that the autonomous mobile robot moves to a predetermined position near an installation position of a trash can; and controlling the autonomous mobile robot such that the autonomous mobile robot moves to a predetermined place when the autonomous mobile robot receives the garbage dropped from the discharge port of the garbage can.

With the present disclosure, an action system, a garbage collection method, and a storage medium that allow efficient collection of garbage with an autonomous mobile robot can be provided.

Drawings

Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

fig. 1 is a schematic diagram showing a configuration example of a garbage collection system according to embodiment 1;

fig. 2 is a block diagram showing constituent elements related to discharge of trash in a trash box according to embodiment 1;

fig. 3 is a schematic view showing a state in which the opening and closing unit is opened;

fig. 4 is a perspective view showing a schematic configuration of an autonomous mobile robot according to an embodiment;

fig. 5 is a side view showing a schematic configuration of an autonomous mobile robot according to the embodiment;

fig. 6 is a block diagram showing a schematic system configuration of an autonomous mobile robot according to an embodiment;

fig. 7A is a schematic diagram for explaining control by the control unit at the time of collecting garbage;

fig. 7B is a schematic diagram for explaining the control by the control unit when collecting garbage;

fig. 7C is a schematic diagram for explaining the control by the control unit at the time of collecting garbage;

fig. 7D is a schematic view for explaining the control by the control unit at the time of collecting garbage;

fig. 8 is a block diagram showing the constituent elements related to the discharge of trash in the trash box according to embodiment 2;

fig. 9 is a block diagram showing constituent elements related to discharge of trash in a trash box according to embodiment 3;

fig. 10 is a schematic view showing one example of a manner in which an autonomous mobile robot operates a switch of a trash can according to embodiment 3;

fig. 11 is a schematic view showing another example of a manner in which an autonomous mobile robot operates a switch of a trash can according to embodiment 3;

fig. 12A is a schematic diagram showing a configuration example of a garbage collection system according to embodiment 4;

fig. 12B is a schematic diagram showing a configuration example of the garbage collection system according to embodiment 4;

fig. 13 is a block diagram showing constituent elements related to discharge of trash in a trash box according to embodiment 4;

fig. 14A is a schematic diagram showing another configuration example of the garbage collection system according to embodiment 4; and is

Fig. 14B is a schematic diagram showing another configuration example of the garbage collection system according to embodiment 4.

Detailed Description

Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

Example 1

Fig. 1 is a schematic diagram showing a configuration example of a garbage collection system 1 according to the embodiment. As shown in fig. 1, the garbage collection system 1 includes an autonomous mobile robot 10 and a garbage can 20. Fig. 1 also shows the collection box 30 placed on the placing unit 130 at the upper portion of the autonomous mobile robot 10. In fig. 1, the waste bin 20 is shown as a sectional view. For example, the shape of the trash can 20 is a rectangular parallelepiped shape or a cylindrical shape. However, the rectangular parallelepiped shape and the cylindrical shape are merely examples, and the shape of the trash can 20 may be other shapes. For example, the trash can 20 is installed in any environment such as a house, facility, warehouse, factory, and outdoor location. A portion of the garbage collection system (e.g., a system associated with a garbage bin) may be referred to as an action system of the garbage bin.

The waste bin 20 shown in fig. 1 comprises an inlet 21 and an outlet 22. The inlet 21 is an opening through which a person or the like puts the garbage 31 into the garbage can 20. The inlet 21 is provided on the upper surface of the dustbin 20 in the example shown in fig. 1, but may be provided on the side surface of the dustbin 20.

The discharge port 22 is an opening portion through which the autonomous mobile robot 10 collects the garbage 31 in the garbage can 20. An opening/closing unit 23 is provided in the discharge port 22. The opening-closing unit 23 is a door (cover) provided in the discharge port 22, and switches between a closed state (see fig. 1) and an open state (see fig. 3). In the example shown in fig. 1, the opening and closing unit 23 is a single door, but may be a double door, or may be a configuration in which three or more doors open and close the discharge port 22. Further, the closing unit 23 is not limited to a configuration in which the discharge port 22 is opened and closed by the swing of the door, and may have a configuration in which the discharge port 22 is opened and closed by the sliding of the door. That is, the opening-and-closing unit 23 only needs to be a member that switches the discharge port 22 between the closed state and the open state, and any known configuration may be adopted as a specific structure of the opening-and-closing unit 23. In the example shown in fig. 1, the inlet port 21 is not provided with the opening/closing means, but the inlet port 21 may be provided with the opening/closing means.

The discharge port 22 and the opening and closing unit 23 are provided on a predetermined surface of the trash can 20, specifically, on a bottom surface of the trash can 20. As shown in fig. 1, the trash can 20 is installed such that the opening and closing unit 23 and the discharge port 22 face a base surface 32 (which is a floor surface or ground surface) and are spaced a predetermined interval from the base surface 32. In other words, the trash can 20 is mounted such that the predetermined surface provided with the opening and closing unit 23 described above faces the base surface 32, and a space exists between the opening and closing unit 23 and the base surface 32. In the example shown in fig. 1, the bin 20 is supported by a bracket 33, but may be mounted on a wall or may be hung from an overhead structural object such as a ceiling.

Fig. 2 is a block diagram showing constituent elements related to discharge of garbage in the garbage can 20 according to the embodiment. As shown in fig. 2, the trash can 20 according to the present embodiment includes a sensor 24 in addition to the opening and closing unit 23.

The sensor 24 is a sensor that detects that the autonomous mobile robot 10 has come to a predetermined position. Specifically, the predetermined position is a position directly below the opening and closing unit 23. The sensor 24 may detect whether an object that has come to a predetermined position is the autonomous mobile robot 10, or may be a sensor that detects that any object has come to a predetermined position. For example, the sensor 24 may be an image sensor that performs detection by processing an image in a camera. The sensor 24 is not limited to an image sensor, and any known sensor that can detect that an object (the autonomous mobile robot 10) is in a predetermined position, such as a distance sensor, may be used.

The opening-closing unit 23 in the present embodiment is switched from the closed state to the open state based on the detection signal from the sensor 24. That is, when the autonomous mobile robot 10 has come to a predetermined position and the trash can 20 has received a detection signal from the sensor 24, the opening and closing unit 23 opens the door covering the discharge port 22 and opens the discharge port 22. For example, the opening and closing unit 23 may include an actuator such as a motor, and may be switched between the open state and the closed state using the actuator. When a predetermined time has elapsed after switching to the open state, the opening and closing unit 23 may transit to the closed state. When the sensor 24 detects that the autonomous mobile robot 10 has left the predetermined position, the opening and closing unit 23 may transit to the closed state. The opening and closing unit 23 does not need to include an electric drive mechanism for the motion of the door. For example, the door of the opening and closing unit 23 may be opened by the self weight of the door, the elastic force of the elastic member, or the like. In this case, when the accessory of the opening and closing unit 23 for preventing the door from being opened is operated due to the detection result, the door can be opened by its own weight or elastic force. Further, the closing of the door may be performed by a person or robot, rather than being automatically closed by the trash can 20.

Fig. 3 is a schematic diagram showing a state in which the opening and closing unit 23 is opened. As shown in fig. 3, in this embodiment, when the autonomous mobile robot 10 has come to a predetermined position, the sensor 24 detects the arrival, and the opening and closing unit 23 is opened. Accordingly, the garbage 31 put in the garbage can 20 drops downward and is placed on the placing unit 130 of the autonomous mobile robot 10 described below. In fig. 3, the collection container 30 for collecting the collected garbage 31 is placed on the autonomous mobile robot 10, but the garbage 31 may be directly placed on the autonomous mobile robot 10 without using the collection container 30.

The autonomous mobile robot 10 will be described below. Fig. 4 is a perspective view illustrating a schematic configuration of the autonomous mobile robot 10 according to the embodiment. Fig. 5 is a side view showing a schematic configuration of the autonomous mobile robot 10 according to the embodiment. Fig. 6 is a block diagram showing a schematic system configuration of the autonomous mobile robot 10 according to the embodiment.

For example, the autonomous mobile robot 10 according to the present embodiment is a robot that autonomously moves in a mobile environment such as a house, a facility, a warehouse, a factory, and an indoor place, collects the garbage 31 in the garbage can 20, and transports the garbage 31 to a predetermined place. For example, the autonomous mobile robot 10 runs on the base surface 32. The autonomous mobile robot 10 according to the embodiment includes a movable movement unit 110, a telescoping unit 120 that extends and retracts in the up-down direction, a placing unit 130 that supports a placed object (the garbage 31), a control unit 100 that performs control of the autonomous mobile robot 10 including control of the movement unit 110 and the telescoping unit 120, and a wireless communication unit 140.

The motion unit 110 includes a robot main body 111, a pair of left and right driving wheels 112 rotatably provided on the robot main body 111, a pair of front and rear driven wheels 113 rotatably provided on the robot main body 111, and a pair of motors 114 that drive and rotate the respective driving wheels 112. The motor 114 rotates the drive wheel 112 through a reduction gear or the like. The motor 114 rotates the driving wheel 112 in response to a control signal from the control unit 100, thereby allowing the robot main body 111 to move forward, move backward, and rotate. Thereby, the robot main body 111 can be moved to any position. The above-described configuration of the motion unit 110 is exemplary, and the present disclosure is not limited to the above-described configuration. For example, the number of the driving wheels 112 and the driven wheels 113 of the moving unit 110 may be any number, and any configuration may be adopted as long as the robot main body 111 can move to any position.

The telescopic unit 120 is a telescopic mechanism that extends and contracts in the up-down direction. The telescopic unit 120 may be configured as a telescopic mechanism. The set unit 130 is provided at an upper end portion of the telescopic unit 120, and the set unit 130 is raised or lowered by the action of the telescopic unit 120. The telescopic unit 120 includes a driving device 121 such as a motor, and is extended and contracted by the driving of the driving device 121. That is, the placing unit 130 is raised or lowered by the driving of the driving device 121. The driving device 121 is driven in response to a control signal from the control unit 100. In the autonomous mobile robot 10, any known mechanism that is provided on the upper side of the robot main body 111 and controls the height of the placing unit 130 may be used instead of the telescopic unit 120.

The placement unit 130 is disposed at an upper portion (distal end) of the telescopic unit 120. The placing unit 130 is raised or lowered by a driving device 121 (e.g., a motor), and serves to place the garbage 31 carried by the autonomous mobile robot 10. As described above, the collecting container 30 for collecting the collected garbage 31 may be placed on the placing unit 130 as shown in fig. 1, but the garbage 31 may be directly placed on the placing unit 130 without using the collecting container 30. For the conveyance, the autonomous mobile robot 10 moves together with the garbage 31 (the collection container 30), and the garbage 31 (the collection container 30) is supported by the placing unit 130. Thus, the autonomous mobile robot 10 carries the garbage 31 (the collection box 30).

For example, the placement unit 130 is formed of a plate material. In the present embodiment, the shape of the plate material, i.e., the shape of the placement unit 130, is, for example, a disk shape having a flat upper surface, but may be any other shape.

The wireless communication unit 140 is a circuit that performs wireless communication for communicating with a server, other robots, and the like as necessary, and includes, for example, a wireless transmission-reception circuit and an antenna. In the case where the trash can 20 has a communication function, communication with the trash can 20 may be performed through the wireless communication unit 140. In the case where the autonomous mobile robot 10 does not communicate with other devices, the wireless communication unit 140 may be omitted.

The control unit 100 is a device that controls the autonomous mobile robot 10, and includes a processor 101, a memory 102, and an interface 103. The processor 101, the memory 102, and the interface 103 are connected to each other by a data bus or the like.

The interface 103 is an input-output circuit for communicating with other devices such as the motion unit 110, the telescopic unit 120, and the wireless communication unit 140.

For example, the memory 102 is configured as a combination of volatile memory and non-volatile memory. The memory 102 is used to store software (computer programs) that is executed by the processor 101 and includes one or more instructions, data, etc. for various processes of the autonomous mobile robot 10.

The processor 101 reads software (computer program) from the memory 102 and executes the software to perform the processing described below of the control unit 100.

For example, the processor 101 may be a microprocessor, a Micro Processing Unit (MPU), a Central Processing Unit (CPU), or the like. Processor 101 may include multiple processors. Thus, the control unit 100 is a device serving as a computer.

Various types of non-transitory computer-readable media may be used to store the above-described program and may be provided to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, and hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), compact disc read only memories (CD-ROMs), CD-R, CD-R/ws, semiconductor memories (e.g., mask ROMs, programmable ROMs (proms), erasable proms (eproms), flash ROMs, Random Access Memories (RAMs)). Further, the program may be provided to the computer through various types of transitory computer-readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable medium may provide the program to the computer through a wired communication path such as an electric wire and an optical fiber or through a wireless communication path.

Next, the processing of the control unit 100 will be described.

The control unit 100 controls the operation of the autonomous mobile robot 10. For example, the control unit 100 controls the movement unit 110 and the telescopic unit 120. The control unit 100 may control the rotation of the respective driving wheels 112 and may move the robot main body 111 to an arbitrary position by sending a control signal to the respective motors 114 of the movement unit 110. Further, the control unit 100 may control the height of the placing unit 130 by transmitting a control signal to the driving device 121 of the telescopic unit 120.

The control unit 100 may control the motion of the autonomous mobile robot 10 by performing well-known control (e.g., feedback control and robust control) based on the rotation information about the driving wheels 112 detected by the rotation sensors provided in the driving wheels 112. Further, the control unit 100 may autonomously move the autonomous mobile robot 10 by controlling the movement unit 110 based on information including distance information (which is detected by a distance sensor such as a camera or an ultrasonic sensor provided in the autonomous mobile robot 10) and map information on a movement environment. In the embodiment, the control unit 100 controls the autonomous mobile robot 10 such that the autonomous mobile robot 10 moves to a predetermined position near the installation position of the trash can 20, that is, a collection position of the trash 31 in the trash can 20 (for example, a position directly below the opening and closing unit 23). When the autonomous mobile robot 10 receives the garbage 31 dropped from the discharge opening 22 of the garbage can 20, the control unit 100 controls the autonomous mobile robot 10 such that the autonomous mobile robot 10 moves to a predetermined place. Accordingly, the garbage 31 is carried to a predetermined place by the autonomous mobile robot 10. The autonomous mobile robot 10 may understand that the trash 31 has been received from a signal from a sensor such as a weight sensor measuring the weight of the placing unit 130 or from a notification from other equipment such as the trash can 20.

Since the autonomous mobile robot 10 receives the garbage 31 dropped from the garbage can 20 through the placing unit 130, an impact when the autonomous mobile robot 10 receives the dropped garbage 31 is large in a case where a distance from the placing unit 130 to the garbage can 20 is long. Therefore, in this case, a trouble of the autonomous mobile robot 10, scattering of the garbage 31, and the like may be concerned. Therefore, when collecting the garbage 31, the control unit 100 can raise the placing unit 130 at the collection position of the garbage 31 (position directly below the opening and closing unit 23). Accordingly, the impact can be alleviated when the autonomous mobile robot 10 receives the garbage 31. For example, the control unit 100 may raise the placing unit 130 to a height level of a lower end of the movement range of the opening and closing unit 23. For example, the height to the lower end of the movement range of the opening and closing unit 23 may be previously stored in the memory 102. Further, at the time of collecting the garbage 31, the control unit 100 may perform the following control as illustrated in fig. 7A to 7D. Fig. 7A to 7D are schematic diagrams sequentially showing control of the height of the placing unit 130 by the control unit 100.

First, the control unit 100 raises the placing unit 130 to a level corresponding to the height of the opening and closing unit 23 (see fig. 7A). In this case, even if the trash can 20 detects that the autonomous mobile robot 10 has come to the predetermined position, the trash can 20 does not need to immediately open the opening and closing unit 23, and the opening and closing unit 23 may be opened after a sufficient time (for the autonomous mobile robot 10 to lift the placing unit 130). In order to raise the placing unit 130 to a level corresponding to the height of the opening and closing unit 23, the autonomous mobile robot 10 may acquire the height of the opening and closing unit 23 by measuring the height of the opening and closing unit 23 using a distance sensor, or may acquire the height of the opening and closing unit 23 by reading a height previously stored in the memory 102. Then, the control unit 100 coordinates the lowering of the detection placement unit 130 with the action of the opening and closing unit 23 opening downward (see fig. 7B and 7C). For example, the control unit 100 may control the descent of the placing unit 130 according to an output value of a distance sensor that detects a distance between the placing unit 130 and the opening and closing unit 23. Further, in the case where the opening and closing unit 23 is opened by its own weight, the elastic force of the elastic member, or the like, the control unit 100 may lower the opening and closing unit 23 at a predetermined speed when the weight sensor, the contact sensor, or the like detects that the placement unit 130 starts to support the opening and closing unit 23. Further, in the case where the start time of the opening operation of the opening and closing unit 23 can be acquired through notification from the trash can 20 or the like, the control unit 100 may lower the placing unit 130 at a predetermined speed corresponding to the opening speed of the opening and closing unit 23. Thereafter, the control unit 100 further lowers the placing unit 130 so that the autonomous mobile robot 10 with the garbage 31 and the opening and closing unit 23 do not collide with each other (fig. 7D). Thus, the control unit 100 can raise the placing unit 130 at the collection position of the garbage 31 (position directly below the opening/closing unit 23) and can coordinate the operation of opening the placing unit 130 and the opening/closing unit 23 downward. Thus, the impact when the autonomous mobile robot 10 receives the garbage 31 can be reduced.

Embodiment 1 has been described above. As described above, the trash can 20 according to the embodiment includes the opening and closing unit 23 on the predetermined surface of the trash can 20, and the trash can 20 is installed such that the opening and closing unit 23 faces the base surface 32 with a predetermined interval from the base surface 32. Then, when the trash 20 detects that the autonomous mobile robot 10 has come to a predetermined position near the installation position of the trash 20, the trash 20 opens the opening and closing unit 23. Therefore, the garbage 31 can be loaded on the autonomous mobile robot 10 by the falling of the garbage 31 in the garbage can 20. Accordingly, efficient garbage collection can be performed by the autonomous mobile robot. In particular, even an autonomous mobile robot that does not include an arm having a complicated configuration can easily collect garbage. In particular, in an embodiment, the trash bin 20 detects that the autonomous mobile robot 10 has come to a predetermined location based on a signal from a sensor 24 included in the trash bin 20. Thereby, the following configuration can be realized: the fall time of the refuse 31 is determined only by the treatment in the refuse receptacle 20.

Example 2

Next, embodiment 2 will be described. In embodiment 1, the trash can 20 detects that the autonomous mobile robot 10 has come to a predetermined position using the sensor 24 included in the trash can 20. However, the detection may also be performed by other methods. The present embodiment is different from embodiment 1 in that the trash can 20 according to the present embodiment detects that the autonomous mobile robot 10 has come to a predetermined position based on a notification received from another device. A configuration different from that in embodiment 1 will be described below, and description of the same configuration as that in embodiment 1 will be omitted as appropriate.

Fig. 8 is a block diagram showing the constituent elements related to the trash discharge in the trash can 20 according to embodiment 2. As shown in fig. 8, the trash can 20 according to embodiment 2 includes a communication unit 25 in addition to the opening and closing unit 23. The communication unit 25 is a circuit that communicates with other devices, and includes a transmission-reception circuit that transmits and receives signals by wire or wirelessly.

In the present embodiment, the trash can 20 detects that the autonomous mobile robot 10 has come to a predetermined position, that is, a collection position of the trash 31 (that is, a position directly below the opening and closing unit 23), based on a notification received by the communication unit 25 from another device. For example, the other device may be the autonomous mobile robot 10. In this case, when the autonomous mobile robot 10 has reached the predetermined position, the autonomous mobile robot 10 issues a notification indicating the arrival to the trash can 20. When the communication unit 25 of the trash can 20 receives the notification from the autonomous mobile robot 10, the opening and closing unit 23 is switched from the closed state to the open state. Further, the other device described above may be a server that manages the task execution process of the autonomous mobile robot 10. In this case, for example, when the server knows that the autonomous mobile robot 10 has reached the predetermined position, for example, by a notification from the autonomous mobile robot 10, the server gives a notification indicating that the autonomous mobile robot 10 has reached the predetermined position to the trash can 20. Then, when the communication unit 25 of the trash can 20 receives the notification from the server, the opening and closing unit 23 is switched from the closed state to the open state. Further, the other device may be a sensor device or the like provided on the base surface 32 or the like. In this case, when the sensor device detects that the autonomous mobile robot 10 has reached the predetermined position, the sensor device gives a notification indicating the arrival to the trash can 20. Then, when the communication unit 25 of the trash can 20 receives a notification from the sensor device, the opening-closing unit 23 is switched from the closed state to the open state.

In this way, the trash can 20 can open the opening and closing unit 23 based on the notification received from the other device. With this configuration, even if the trash can 20 does not include a sensor, the falling time of the trash 31 can be determined. In the present embodiment, the trash can 20 may also close the opening and closing unit 23 when a predetermined time has elapsed after the opening of the opening and closing unit 23, or may close the opening and closing unit 23 based on a notification received from another device.

Example 3

Next, embodiment 3 will be described. In embodiment 1 and embodiment 2, the trash can 20 detects that the autonomous mobile robot 10 has come to a predetermined position through signal processing. However, the detection may be performed using a switch. The embodiment is different from embodiment 1 in that the trash can 20 according to the embodiment includes a switch, and it is detected that the autonomous mobile robot 10 has come to a predetermined position when the switch is operated. A configuration different from that in embodiment 1 will be described below, and description of the same configuration as that in embodiment 1 will be omitted as appropriate.

Fig. 9 is a block diagram showing components related to garbage discharge in the garbage box 20 according to embodiment 3. As shown in fig. 9, the dustbin 20 according to embodiment 3 includes a switch 26 for opening the opening and closing unit 23 in addition to the opening and closing unit 23. The switch 26 is a switch operated by physical force (physical contact), and may be, for example, a button or a lever. In the present embodiment, the switch 26 is provided at an arbitrary position on the bottom surface of the trash can 20, that is, an arbitrary position on a predetermined surface on which the discharge portion 22 and the opening and closing unit 23 are provided.

In the present embodiment, when the switch 26 is operated, the trash can 20 detects that the autonomous mobile robot 10 has come to a predetermined position, i.e., a collection position of the trash 31 (i.e., a position directly below the opening and closing unit 23). When the switch 26 of the trash case 20 is operated, the opening and closing unit 23 is switched from the closed state to the open state. The opening-and-closing unit 23 may be converted into the open state by an electric signal from the switch 26, or may be converted into the open state by the self weight of the opening-and-closing unit 23 or by the elastic force of an elastic member provided on the opening-and-closing unit 23 when the attachment or the like is detached by the operation of the switch 26.

Fig. 10 is a schematic diagram showing an example of a manner in which the autonomous mobile robot 10 operates the switch 26 of the trash can 20 according to the embodiment. In the example shown in fig. 10, the switch 26 is a button that can be operated from the lower side. In the example shown in fig. 10, the control unit 100 of the autonomous mobile robot 10 operates the switch 26 in the vertical direction by raising the placing unit 130 at a predetermined position (a position directly below the opening and closing unit 23). That is, the autonomous mobile robot 10 presses the switch 26 upward from the lower side by raising the placing unit 130. The trash can 20 can detect that the autonomous mobile robot 10 has come to a predetermined position in this way.

Fig. 11 is a schematic diagram illustrating a further example of the way in which the autonomous mobile robot 10 operates the switch 26 of the trash can 20 according to an embodiment. In the example shown in fig. 11, the switch 26 is a button or lever that can be operated from the side. In the example shown in fig. 11, in a state where the height of the placing unit 130 is a predetermined height, the control unit 100 of the autonomous mobile robot 10 operates the switch 26 in the horizontal direction by moving the placing unit 130 to a predetermined position (a position directly below the opening and closing unit 23). That is, the autonomous mobile robot 10 presses the switch 26 from the side by the motion. The trash can 20 may detect that the autonomous mobile robot 10 has come to a predetermined position in this manner.

In this way, the autonomous mobile robot 10 may operate the switch 26 using the placing unit 130. With this configuration, the autonomous mobile robot 10 can operate the switch 26 even if the autonomous mobile robot 10 does not include a special arm for operating the switch 26.

In the case where the autonomous mobile robot 10 operates the switch 26 using the placing unit 130, the operation may be performed by direct contact of the placing unit 130 with the switch 26, or may be performed by contact of the collecting tank 30 on the placing unit 130 with the switch 26. In the case where the operation of the switch 26 is performed by the collection box 30, it is preferable that the collection box 30 is fixed to the placing unit 130. Further, the switch 26 may be operated by a person who confirms that the autonomous mobile robot 10 has come to a predetermined position.

In this way, when the switch 26 is operated, the dustbin 20 can open the opening and closing unit 23. With this configuration, the dust box 20 can determine the fall time of the dust 31 by a simple configuration. In the present embodiment, the dustbin 20 may also close the opening and closing unit 23 when a predetermined time has elapsed after the opening of the opening and closing unit 23, or may close the opening and closing unit 23 based on the operation of the switch 26. Further, in the present embodiment, a switch 26 for opening the opening and closing unit 23 is provided on a surface of the dustbin 20 facing the base surface 32. Therefore, the autonomous mobile robot 10 under the trash can 20 can easily operate the switch 26.

Example 4

Next, embodiment 4 will be described. The present embodiment is different from the above-described embodiments in that the dustbin can be changed in orientation state. Fig. 12A and 12B are schematic diagrams showing a configuration example of the garbage collection system 4 according to embodiment 4. Fig. 12A and 12B also show the collection box 30 placed on the placement unit 130 of the autonomous mobile robot 10. In fig. 12A and 12B, the trash can 40 is shown in cross-section. For example, the trash can 40 has a rectangular parallelepiped shape or a cylindrical shape. However, the rectangular parallelepiped shape and the cylindrical shape are merely examples, and the shape of the trash can 40 may be other shapes.

As shown in fig. 12A and 12B, the refuse collection system 4 is different from the refuse collection system 1 in embodiment 1 in that a refuse box 40 capable of changing an orientation state is used in place of the refuse box 20. Fig. 12A is a schematic diagram showing an example of a state where a predetermined surface (a surface provided with the opening and closing unit 23) of the trash can 40 is not directed toward the base surface 32. Fig. 12B is a schematic diagram showing an example of a state in which a predetermined surface (a surface on which the opening and closing unit 23 is provided) of the trash can 40 faces the base surface 32. Hereinafter, a state in which the face of the trash can 40 on which the opening and closing unit 23 is provided is not directed toward the base surface 32 is referred to as a throw-in receiving state, and a state in which the face of the trash can 40 on which the opening and closing unit 23 is provided is directed toward the base surface 32 is referred to as a discharge state.

Similar to the trash can 20, the trash can 40 includes an input port 21 and an output port 22. As shown in fig. 12A and 12B, the inlet 21 is provided on a surface of the dustbin 40 that is an upper surface in the input receiving state and a side surface in the discharge state. The inlet 21 may be provided on a surface that is a side surface both in the input receiving state and in the discharge state (on a surface on the near side or the far side of the paper surface in fig. 12A and 12B). Preferably, an opening and closing unit 41 is provided in the input port 21 in order to prevent the garbage 31 from overflowing the input port 21 when the garbage can 40 is in the discharge state. The opening/closing unit 41 is a door (cover) provided in the inlet 21.

In the trash box 40, the opening and closing unit 23 is provided in the discharge port 22. As shown in fig. 12A and 12B, in the trash box 40, the discharge port 22 and the opening and closing unit 23 are provided on a surface which is a side surface in the input receiving state and a bottom surface in the discharge state. In this embodiment, as shown in fig. 12B, the dustbin 40 is mounted such that the opening and closing unit 23 and the discharge port 22 of the dustbin 40 in the discharge state face the base surface 32 with a predetermined interval 32 from the base surface 32. Specifically, the trash receptacle 40 includes a shaft 42 and is mounted to the wall 34 by the shaft 42. That is, the trash box 40 is mounted on the wall 34 so that the orientation state can be changed by rotating the rotating shaft 42 (as a shaft for rotation). As shown in fig. 12A and 12B, a cutout 35 capable of accommodating the trash can 40 in the input receiving state is provided in the wall 34. The trash can 40 is mounted on the seat 36 for placing the trash can 40 in the input receiving state. When the dustbin 40 in the input-receiving state is rotated by 90 degrees and the dustbin 40 becomes the discharge state (see fig. 12B), the face of the dustbin 40 on which the opening-closing unit 23 is provided faces the base face 32, and there is a space between the opening-closing unit 23 and the base face 32.

In this way, the trash can 40 can change the orientation state between a state in which the surface provided with the opening-and-closing unit 23 (the discharge port 22) faces the base surface 32 and a state in which the surface does not face the base surface 32 (i.e., a state in which the surface is oriented in a direction other than the direction of the base surface 32). More specifically, the trash can 40 is rotatably provided, and can change the orientation state between a discharge state in which the face provided with the opening and closing unit 23 (the discharge port 22) faces the base surface 32 and a charge-receiving state (which is a posture standing from the discharge state).

Fig. 13 is a block diagram showing components related to trash discharge in the trash can 40 according to the embodiment. As shown in fig. 13, the dustbin 40 according to the present embodiment includes a sensor 24 and a rotation mechanism 43 in addition to the opening and closing unit 23.

As described in embodiment 1, the sensor 24 is a sensor that detects that the autonomous mobile robot 10 has come to a predetermined position. The predetermined position is a collection position of the garbage 31, specifically, a position directly below the opening and closing unit 23 when the garbage can 40 is in the discharge state.

The rotating mechanism 43 is a mechanism including an actuator such as a motor for changing the orientation state of the trash can 40 in addition to the rotating shaft 42. The rotation mechanism 43 rotates the trash can 40 based on a detection signal from the sensor 24. That is, when the autonomous mobile robot 10 has come to the predetermined position and thus the rotating mechanism 43 has received the detection signal from the sensor 24, the rotating mechanism 43 changes the orientation state of the trash can 40, and switches the state of the trash can 40 from the input acceptance state to the discharge state. In this way, when the trash can 40 detects that the autonomous mobile robot has come near the trash can 40, the trash can 40 changes the orientation state to a state facing the base surface 32 with the opening and closing unit 23. Therefore, the posture of the trash can 40 can be automatically changed to a posture suitable for the collection of the trash 31. When a predetermined time elapses after the state of the dustbin 40 is changed to the discharge state, the rotation mechanism 43 may return to the input acceptance state. When the sensor 24 detects that the autonomous mobile robot 10 has left the vicinity (predetermined position) of the trash can 40, the rotating mechanism 43 may change the orientation state of the trash can 40 from the discharge state to the input acceptance state.

The opening-closing unit 23 in the present embodiment is also switched from the closed state to the open state based on the detection signal from the sensor 24. The opening and closing unit 23 may be opened after the completion of the transition of the state of the trash box 40 to the discharge state. Also in the present embodiment, the opening and closing unit 23 may be transitioned to the closed state when a predetermined time elapses after the transition to the open state. When the sensor 24 detects that the autonomous mobile robot 10 has left the predetermined position, the opening and closing unit 23 may transit to the closed state.

Embodiment 4 has been described above. In the present embodiment, as described above, the trash can 40 can be changed in the orientation state between the state in which the surface on which the opening and closing unit 23 (discharge port 22) is provided faces the base surface 32 and the state in which the surface does not face the base surface 32. This allows the attachment of the trash can 40 to be switched according to the situation, thereby improving the convenience of operation.

In the above description, the trash 40 changes the orientation state of the trash 40 based on the detection result of the sensor 24. However, similar to the configuration described in embodiment 2, the trash can 40 can change the orientation state of the trash can 40 based on a notification from another device. The orientation state of the trash can 40 may be changed by a person, not automatically.

In the example shown in fig. 12A and 12B, the trash can is rotated by 90 degrees, however, the angle of rotation may be 90 degrees or more. Fig. 14A and 14B are schematic diagrams showing other examples of the configuration of the garbage collection system 4 according to embodiment 4. Differences from the configuration described with reference to fig. 12A and 12B will be described, and duplicate descriptions will be omitted as appropriate. In the example shown in fig. 14A and 14B, a trash can 40a is used instead of the trash can 40. Fig. 14A is a schematic diagram showing an example of a state in which a predetermined face (a face provided with the opening and closing unit 23) of the trash can 40a is not directed toward the base face 32, and fig. 14B is a schematic diagram showing an example of a state in which a predetermined face (a face provided with the opening and closing unit 23) of the trash can 40a is directed toward the base face 32.

The trash can 40a is different from the trash can 40 described above in that the trash can 40a is inverted by rotation. In the trash box 40a, the input port may be provided on a surface that is a side surface (i.e., a surface other than the top surface and the bottom surface) in both the input-receiving state and the discharge state, and may also serve as the discharge port 22. In the trash box 40a, the discharge port 22 and the opening/closing unit 23 are provided on a surface which is a top surface in the input-receiving state and a bottom surface in the discharge state. The rotation mechanism 43 of the trash box 40a rotates and inverts the trash box 40, so that the trash box 40a switches between the input-receiving state and the discharge state. In this way, the waste bin can be switched between the input-receiving state and the discharge state by inversion.

Embodiments 1 to 4 have been described above. The present disclosure is not limited to the above-described embodiments, and may be appropriately modified without departing from the gist thereof.

Claims

1. An action system for a garbage can is provided,

the dustbin includes an opening and closing unit on a predetermined face,

the dustbin is installed such that the opening and closing unit faces a base surface, which is a floor surface or a ground surface, with a predetermined interval from the base surface,

the dustbin opens the opening and closing unit when the dustbin detects that the autonomous mobile robot has come to a predetermined position near the installation position of the dustbin.

2. The action system of claim 1, wherein the trash bin comprises a sensor configured to detect that the autonomous mobile robot has come to the predetermined location and to detect that the autonomous mobile robot has come to the predetermined location based on a signal from the sensor.

3. The action system of claim 1, wherein the trash bin comprises a communication unit configured to communicate with other devices and detect that the autonomous mobile robot has come to the predetermined location based on a notification received by the communication unit from the other devices.

4. The action system of claim 1, wherein the trash bin includes a switch, and when the switch is operated, it is detected that the autonomous mobile robot has come to the predetermined position.

5. The action system according to any one of claims 1 to 4, wherein the trash can change an orientation state between a state in which the predetermined face faces the base face and a state in which the predetermined face does not face the base face.

6. The action system of claim 5, wherein the trash bin changes the orientation state to the state in which the predetermined face is oriented toward the base face when the trash bin detects that the autonomous mobile robot has come into proximity of the trash bin.

7. A garbage collection system comprises a garbage can and an autonomous mobile robot,

the dustbin includes an opening and closing unit on a predetermined face,

the autonomous mobile robot moves to a predetermined position near the installation position of the trash can,

when the dustbin detects that the autonomous mobile robot comes to the predetermined position, the dustbin opens the opening and closing unit.

8. The refuse collection system according to claim 7, wherein:

the trash can includes a switch, and when the switch is operated, it is detected that the autonomous mobile robot has come to the predetermined position; and is

The autonomous mobile robot operates the switch.

9. The refuse collection system according to claim 7 or 8, wherein:

the autonomous mobile robot includes a placing unit on which the garbage in the garbage box is placed, the placing unit being capable of ascending and descending; and is

The autonomous mobile robot raises the placing unit at the predetermined position.

10. The refuse collection system according to claim 7 or 8, wherein:

The autonomous mobile robot raises the placing unit at the predetermined position and lowers the placing unit in coordination with the downward opening of the opening and closing unit.

11. A method for collecting garbage is disclosed, which features that the garbage is collected in a garbage collecting pool,

a dustbin including an opening and closing unit on a predetermined face,

when the dustbin detects that the autonomous mobile robot has come to the predetermined position, the dustbin opens the opening and closing unit.

12. A non-transitory storage medium storing instructions executable by one or more processors and causing the one or more processors to perform functions comprising:

controlling an autonomous mobile robot such that the autonomous mobile robot moves to a predetermined position near an installation position of a trash can; and

controlling the autonomous mobile robot such that the autonomous mobile robot moves to a predetermined place when the autonomous mobile robot receives the garbage dropped from the discharge port of the garbage can.